Probably a little too advanced for the DIY guy? Maybe.
One of my side gigs is welding table legs for a friend who builds epoxy river tables. When a customer wants a table longer than 6', he brings the pre-assembled legs to me and I weld in angle iron to tie the legs together. I measure them square to about 1/32". I pay attention to the order of my welds to try and keep it square. Every time I get done welding, they're at least 1/4" out of square. Every. Time. Welding the axle tubes to the diff housing is probably not a beginner's job. It's a bad way to end up with caster/toe problems in your rear wheels.